JPH0367839B2 - - Google Patents

Info

Publication number
JPH0367839B2
JPH0367839B2 JP57011622A JP1162282A JPH0367839B2 JP H0367839 B2 JPH0367839 B2 JP H0367839B2 JP 57011622 A JP57011622 A JP 57011622A JP 1162282 A JP1162282 A JP 1162282A JP H0367839 B2 JPH0367839 B2 JP H0367839B2
Authority
JP
Japan
Prior art keywords
joint
angle
transmission means
axis
phalanx
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP57011622A
Other languages
English (en)
Japanese (ja)
Other versions
JPS58132490A (ja
Inventor
Norihisa Myake
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP57011622A priority Critical patent/JPS58132490A/ja
Priority to EP83100178A priority patent/EP0085307B1/en
Priority to US06/457,442 priority patent/US4568311A/en
Priority to DE8383100178T priority patent/DE3373793D1/de
Priority to NO830133A priority patent/NO158250C/no
Publication of JPS58132490A publication Critical patent/JPS58132490A/ja
Publication of JPH0367839B2 publication Critical patent/JPH0367839B2/ja
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
JP57011622A 1982-01-29 1982-01-29 角度伝達機構 Granted JPS58132490A (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP57011622A JPS58132490A (ja) 1982-01-29 1982-01-29 角度伝達機構
EP83100178A EP0085307B1 (en) 1982-01-29 1983-01-11 Flexible wrist mechanism
US06/457,442 US4568311A (en) 1982-01-29 1983-01-11 Flexible wrist mechanism
DE8383100178T DE3373793D1 (en) 1982-01-29 1983-01-11 Flexible wrist mechanism
NO830133A NO158250C (no) 1982-01-29 1983-01-17 Leddarm-mekanisme.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP57011622A JPS58132490A (ja) 1982-01-29 1982-01-29 角度伝達機構

Publications (2)

Publication Number Publication Date
JPS58132490A JPS58132490A (ja) 1983-08-06
JPH0367839B2 true JPH0367839B2 (zh) 1991-10-24

Family

ID=11783016

Family Applications (1)

Application Number Title Priority Date Filing Date
JP57011622A Granted JPS58132490A (ja) 1982-01-29 1982-01-29 角度伝達機構

Country Status (5)

Country Link
US (1) US4568311A (zh)
EP (1) EP0085307B1 (zh)
JP (1) JPS58132490A (zh)
DE (1) DE3373793D1 (zh)
NO (1) NO158250C (zh)

Families Citing this family (65)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0659635B2 (ja) * 1981-10-07 1994-08-10 株式会社日立製作所 ロボツト手首
JPS6080591A (ja) * 1983-10-05 1985-05-08 株式会社日立製作所 マニプレ−タ
FR2557490B1 (fr) * 1984-01-04 1986-05-09 Barland Ets Tete articulee pour robot industriel et robot equipe d'une telle tete
EP0394225A4 (en) * 1984-04-12 1991-10-30 Mark E. Rosheim Wrist actuator
SE444531B (sv) * 1984-08-31 1986-04-21 Asea Ab Handled for en industrirobot
FR2576378A1 (fr) * 1985-01-21 1986-07-25 Stanik Carol Rotule motorisee
JPS61182790A (ja) * 1985-02-08 1986-08-15 日立造船株式会社 ロボツトの手首装置
JPS61252093A (ja) * 1985-04-30 1986-11-10 株式会社日立製作所 産業用ロボツトの手首機構
US4907937A (en) * 1985-07-08 1990-03-13 Ford Motor Company Non-singular industrial robot wrist
US4686866A (en) * 1986-01-21 1987-08-18 Rosheim Mark E Compact robot wrist acuator
SE469823B (sv) * 1987-02-23 1993-09-27 Univ Western Australia Ledmekanism för robotarmar
US4828453A (en) * 1987-04-21 1989-05-09 The United States Of America As Represented By The United States Department Of Energy Modular multimorphic kinematic arm structure and pitch and yaw joint for same
JP2610330B2 (ja) * 1987-11-30 1997-05-14 ロスヘイム，マーク・イー ロボット手首関節継手
US5129279A (en) * 1991-02-28 1992-07-14 Rennex Brian G Flexible robotic limb
US5692412A (en) * 1993-11-15 1997-12-02 Ross-Hime Designs, Incorporated Robotic manipulator
US6507163B1 (en) 1993-12-20 2003-01-14 Mark A. Allen Robotic bridge maintenance system
US5656904A (en) * 1995-09-28 1997-08-12 Lander; Ralph Movement monitoring and control apparatus for body members
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
US7960935B2 (en) 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
US7126303B2 (en) * 2003-07-08 2006-10-24 Board Of Regents Of The University Of Nebraska Robot for surgical applications
KR100662341B1 (ko) * 2004-07-09 2007-01-02 엘지전자 주식회사 디스플레이 장치 및 그의 색 재현 방법
DE102006002954A1 (de) * 2005-03-19 2006-09-21 Linde Ag Flurförderzeug mit einem neigbaren Hubmast, einer elastischen Neigelagerung und einer Messvorrichtung zur Erfassung des Neigewinkels des Hubmastes
US9579088B2 (en) * 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
CA3068216C (en) * 2006-06-22 2023-03-07 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic devices and related methods
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
EP3078344B1 (en) 2007-07-12 2020-02-26 Board of Regents of the University of Nebraska Actuation in robotic devices
CA2695619C (en) * 2007-08-15 2015-11-24 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
JP2010536435A (ja) * 2007-08-15 2010-12-02 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 医療用膨張、取り付けおよび送達装置、ならびに関連する方法
US9629689B2 (en) 2008-04-11 2017-04-25 Flexdex, Inc. Attachment apparatus for remote access tools
US10405936B2 (en) 2008-04-11 2019-09-10 The Regents Of The University Of Michigan Parallel kinematic mechanisms with decoupled rotational motions
US9869339B2 (en) 2008-04-11 2018-01-16 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
CA2721216C (en) 2008-04-11 2016-06-14 The Regents Of The University Of Michigan Minimal access tool
DE102009017581B4 (de) * 2009-04-18 2021-06-24 Igus Gmbh Mehrachsengelenk insbesondere für die Robotik
US8498741B2 (en) * 2009-09-22 2013-07-30 Gm Global Technology Operations Dexterous humanoid robotic wrist
CA2784883A1 (en) * 2009-12-17 2011-06-23 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
US8968267B2 (en) 2010-08-06 2015-03-03 Board Of Regents Of The University Of Nebraska Methods and systems for handling or delivering materials for natural orifice surgery
EP3977951B1 (en) 2011-06-10 2023-11-08 Board of Regents of the University of Nebraska Surgical end effector
EP2732344B1 (en) 2011-07-11 2019-06-05 Board of Regents of the University of Nebraska Robotic surgical system
WO2013106569A2 (en) 2012-01-10 2013-07-18 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical access and insertion
EP4357083A2 (en) 2012-05-01 2024-04-24 Board of Regents of the University of Nebraska Single site robotic device and related systems and methods
EP3680071B1 (en) 2012-06-22 2021-09-01 Board of Regents of the University of Nebraska Local control robotic surgical devices
EP2882331A4 (en) 2012-08-08 2016-03-23 Univ Nebraska ROBOTIC SURGICAL DEVICES, SYSTEMS AND CORRESPONDING METHODS
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9743987B2 (en) 2013-03-14 2017-08-29 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
US9888966B2 (en) 2013-03-14 2018-02-13 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
US10667883B2 (en) 2013-03-15 2020-06-02 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
JP6479790B2 (ja) 2013-07-17 2019-03-06 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ ロボット外科的デバイス、システムおよび関連する方法
CA2961213A1 (en) 2014-09-12 2016-03-17 Board Of Regents Of The University Of Nebraska Quick-release end effectors and related systems and methods
EP4286104A3 (en) 2014-11-11 2024-02-14 Board of Regents of the University of Nebraska Robotic device with compact joint design and related systems and methods
EP3282952B1 (en) 2015-04-03 2019-12-25 The Regents Of The University Of Michigan Tension management apparatus for cable-driven transmission
JP6961146B2 (ja) 2015-08-03 2021-11-05 バーチャル インシジョン コーポレイションVirtual Incision Corporation ロボット外科的デバイス、システムおよび関連する方法
WO2017059442A1 (en) 2015-10-02 2017-04-06 Flexdex, Inc. Handle mechanism providing unlimited roll
US11896255B2 (en) 2015-10-05 2024-02-13 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
WO2017062516A1 (en) * 2015-10-05 2017-04-13 Flexdex, Inc. Medical devices having smoothly articulating multi-cluster joints
JP7176757B2 (ja) 2016-05-18 2022-11-22 バーチャル インシジョン コーポレイション ロボット手術装置、システム及び関連する方法
WO2018039606A1 (en) 2016-08-25 2018-03-01 Virtual Incision Corporation Quick-release tool coupler and related systems and methods
EP3507065A4 (en) 2016-08-30 2020-04-29 Board of Regents of the University of Nebraska ROBOTIC DEVICE HAVING COMPACT ARTICULATION DESIGN AND ADDITIONAL DEGREE OF FREEDOM, AND RELATED SYSTEMS AND METHODS
CN115337111A (zh) 2016-11-22 2022-11-15 内布拉斯加大学董事会 改进的粗定位装置及相关系统和方法
CN110462259B (zh) 2016-11-29 2022-10-28 虚拟切割有限公司 具有用户存在检测的用户控制器及相关系统和方法
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
JP7405432B2 (ja) 2017-09-27 2023-12-26 バーチャル インシジョン コーポレイション 追跡カメラ技術を有するロボット手術デバイスならびに関連するシステムおよび方法
EP3735341A4 (en) 2018-01-05 2021-10-06 Board of Regents of the University of Nebraska ROBOTIC DEVICE HAVING A SINGLE ARM OF A COMPACT JOINT DESIGN AND RELATED SYSTEMS AND PROCESSES
CA3125742A1 (en) 2019-01-07 2020-07-16 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
US11950966B2 (en) 2020-06-02 2024-04-09 Flexdex, Inc. Surgical tool and assembly
CN113211422B (zh) * 2021-03-29 2022-11-04 清华大学 一种等曲率联动机械臂

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52111158A (en) * 1976-01-30 1977-09-17 Trallfa Nils Underhaug As Resilient robot arm

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1389971A (en) * 1920-09-20 1921-09-06 Noel Eli Universal joint
GB1182113A (en) * 1966-05-04 1970-02-25 Secr Defence Improvements in constant velocity joints.
US3497083A (en) * 1968-05-10 1970-02-24 Us Navy Tensor arm manipulator
US3631737A (en) * 1970-09-18 1972-01-04 Nasa Remote control manipulator for zero gravity environment
US4006607A (en) * 1975-08-20 1977-02-08 Kane Thomas R Constant speed ratio coupling for shafts with time-varying orientations
DE2644671C2 (de) * 1976-10-02 1978-11-09 Jean Walterscheid Gmbh, 5204 Lohmar Weitwinkelgelenk
FR2378612A1 (fr) * 1977-01-28 1978-08-25 Renault Bras polyarticule pour robot ou automate
JPS5546471A (en) * 1978-09-29 1980-04-01 Fujitsu Ltd Gas discharge indicator
GB2041879A (en) * 1979-02-07 1980-09-17 Central Electr Generat Board Remotely Controllable Mobile Robot and Control Apparatus Therefor
SU872821A1 (ru) * 1979-09-17 1981-10-15 Проектно-Конструкторское Технологическое Бюро По Вагонам Главного Управления По Ремонту Подвижного Состава И Производству Запасных Частей Гибкий вал
US4353677A (en) * 1980-03-05 1982-10-12 Thermwood Corporation Wrist construction for industrial robots
JPH0121744Y2 (zh) * 1980-04-30 1989-06-28

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52111158A (en) * 1976-01-30 1977-09-17 Trallfa Nils Underhaug As Resilient robot arm

Also Published As

Publication number Publication date
DE3373793D1 (en) 1987-10-29
NO830133L (no) 1983-08-01
EP0085307B1 (en) 1987-09-23
NO158250B (no) 1988-05-02
EP0085307A2 (en) 1983-08-10
EP0085307A3 (en) 1984-09-05
JPS58132490A (ja) 1983-08-06
US4568311A (en) 1986-02-04
NO158250C (no) 1988-08-10

Similar Documents

Publication Publication Date Title
JPH0367839B2 (zh)
JP7325895B2 (ja) 外科用ロボットアーム
US4805477A (en) Multiple joint robot part
US4821594A (en) Robot joints
JP3245095B2 (ja) ロボットハンド
KR100749878B1 (ko) 휴머노이드 로봇용 로봇 암
US8245595B2 (en) Two-axis non-singular robotic wrist
JPH01150042A (ja) マニピュレータ関節機構
KR102246778B1 (ko) 손가락 기구 및 이를 포함하는 로봇 핸드
JPS61252093A (ja) 産業用ロボツトの手首機構
JPH09290382A (ja) 反力フィードバックに適した六自由度運動可能なマニピュレータ
JPS6125514B2 (zh)
JP7252797B2 (ja) ロボットアーム
JP4469957B2 (ja) ロボットハンド
KR102271362B1 (ko) 인간의 손가락을 모사하는 손가락 기구 및 이를 포함하는 로봇 핸드
JPH0544072Y2 (zh)
JPH0243671Y2 (zh)
JPS59175990A (ja) 工業用ロボツトの関節
JPH035438Y2 (zh)
JPH06102312B2 (ja) ロボツト関節部の動力伝達機構
JPH0630378Y2 (ja) マスタ−マニプレ−タ
JPH08373B2 (ja) マニピュレータ
JPH028713Y2 (zh)
JPH03104574A (ja) 多関節形ロボツト
CN114346999A (zh) 一种并联机构与四杆机构组合机器人